arm_dev
7af9e3d4b6
搜孔开局会抬到悬高再落回 hole_hover_z_m，螺纹还没咬合臂就离开孔口。没有接触传感器，到位只认 final_gap 算出的法兰高度，贴面后停在这个 Z。09:25 厂家 MoveL 切回 NRT_JOINT_POSITION 的第一拍把整段关节差算成 1.686 rad/s，前瞻再推 0.07 rad，光心从 5 mm 冲到 276 mm 后急停。切回后钉住结束瞬间的关节角并清零速度，JTC 还指着出发前的关节时不放行。 Co-authored-by: Cursor <cursoragent@cursor.com>
32 lines
1.1 KiB
Bash
32 lines
1.1 KiB
Bash
# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
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# This script extends the environment with the environment of other prefix
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# paths which were sourced when this file was generated as well as all packages
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# contained in this prefix path.
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# function to source another script with conditional trace output
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# first argument: the path of the script
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_colcon_prefix_chain_zsh_source_script() {
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if [ -f "$1" ]; then
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if [ -n "$COLCON_TRACE" ]; then
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echo "# . \"$1\""
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fi
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. "$1"
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else
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echo "not found: \"$1\"" 1>&2
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fi
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}
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# source chained prefixes
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# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
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COLCON_CURRENT_PREFIX="/home/cc/anaconda3/envs/ros_flexiv"
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_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
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# source this prefix
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# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
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COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
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_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
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unset COLCON_CURRENT_PREFIX
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unset _colcon_prefix_chain_zsh_source_script
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